CN111256732B - Target attitude error measurement method for underwater binocular vision - Google Patents
Target attitude error measurement method for underwater binocular vision Download PDFInfo
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Abstract
The invention provides a target attitude error measuring method for underwater binocular vision. And calculating a rotation matrix of the support coordinate system and the target coordinate system, wherein the Euler angle of the posture at the moment is used as a theoretical posture truth value of the target object in the camera coordinate system. In an underwater test environment, coordinates of a target object calibration object in an underwater camera coordinate system are measured by a binocular camera, a target three-dimensional coordinate vector is constructed by utilizing coordinate values, and a rotation matrix of the underwater camera coordinate system and the target coordinate system is calculated. And further calculating the change value of the Euler angles of the postures before and after the experiment to obtain the required test error. The construction and cooperative work of the world coordinate system, the support coordinate system and the target coordinate system greatly simplify the calculation process of attitude errors, the test platform is convenient to build, and the test process is very simple and convenient.
Description
Technical Field
The invention relates to the technical field of target attitude error measurement of vision, in particular to a target attitude error measurement method for underwater binocular vision, which is a method for testing a visual target attitude error by combining a three-dimensional positioning system and is suitable for measuring the three-dimensional visual attitude error of an underwater target object.
Background
The visual target posture measurement is to obtain a target information image through a visual sensor and obtain the posture information of a target through visual processing. The target attitude information has important theoretical significance and engineering value on aspects such as target motion state analysis, fault analysis and the like, and plays a significant role in the fields such as aerospace, traffic, industrial automation and the like. The target attitude error is an important problem for functions such as target motion state analysis and the like. The target attitude error range of the binocular camera vision carried by the underwater robot can be determined, and the underwater robot is a necessary condition for successfully acquiring target attitude information and executing tasks such as grabbing. In fact, the complicated underwater environment brings many difficulties to the target attitude error test of robot vision, so that the existing underwater robot cannot monitor the target attitude error of binocular vision. The traditional visual target attitude error correction can be only carried out before the task is executed, and the error measurement process is very complicated. How to obtain the target attitude error information in real time in the task process becomes an important problem to be researched.
Many researchers try to correct errors by improving a target attitude measurement method of binocular vision, but it is rare that the method can monitor target attitude errors of a binocular camera in real time during task execution and is applied to a test method of an underwater environment. The literature provides a method for rapidly realizing online measurement of clamping pose errors of a complex component based on vision, and the method comprises the steps of firstly generating a reference frame to obtain a reference coordinate system; then, carrying out point cloud coordinate system transformation and segmentation to obtain an actually measured pose model; and finally, comparing the actual measurement pose model with the reference pose model to carry out clamping pose error. The document also provides a method for detecting position and attitude errors of a single-point multi-view pendant of a mobile industrial robot, and the method is characterized in that template matching comparison is carried out on pictures shot for multiple times, so that relative errors of characteristic points are determined, and the position and attitude errors of an end effector are finally determined. The steps of the method are very complicated, the target attitude error cannot be monitored in real time, and the method is not suitable for underwater environment.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a target attitude error measuring method for underwater binocular vision. And the calibration of a world coordinate system is completed by utilizing a three-dimensional positioning system, and the measurement of a camera coordinate system and a target object coordinate system is simplified through the construction of a support coordinate system. The construction and cooperative work of the world coordinate system, the support coordinate system and the target coordinate system greatly simplify the calculation process of attitude errors, the test platform is convenient to build, and the test process is very simple and convenient.
The construction of the world coordinate system is mainly realized by calibrating a specific calibration object through a three-dimensional positioning system. Before calibration, the working range of the three-dimensional positioning system is determined, and a proper position is selected as the origin of a world coordinate system. The positions of the four calibration objects shown in FIG. 1 are determined by taking the intersection point of two straight lines consisting of the four calibration objects as the origin of the coordinate system, and the minor axis is the world coordinate system Y e Axis, major axis being world coordinateIs X e A shaft. In order to facilitate identification and reduce calibration data errors, the calibration object selects a standard fluorescent small ball, and the diameter of the calibration object is far smaller than the working range of the three-dimensional positioning system. In the experiments carried out by the applicant, the calibration objects used were placed on square bars with a long side of 70cm and a short side of 40cm. The color of the calibration rod is black, and the calibration rod is distinguished from the calibration object, so that the process of identifying the calibration object by the three-dimensional positioning system is not interfered.
The construction of the bracket coordinate system is also realized by calibrating the calibration object by using a three-dimensional positioning system. The positions of the calibration objects are shown in three points A, B and C in figure 2, the invention constructs a bracket coordinate system by using three calibration objects, the BC direction is used as the Y axis, the BA direction is used as the X axis, and the Z axis is determined by the right-hand rule. The origin of the coordinate system of the camera is positioned at the position of the left camera of the binocular camera, namely, the position right below the origin of the coordinate system of the bracket, and the connecting line direction of the two cameras of the binocular camera is X c Axis parallel to the X-axis of the gantry coordinate system, Y c The axis is parallel to the Y axis of the support coordinate system, and the X axis of the support coordinate system is perpendicular to the Y axis.
Before image acquisition of the binocular camera is carried out, the binocular camera needs to be calibrated by using a computer and a chessboard, and the process is as follows: and calculating internal and external parameters of the camera by using MATLAB, inputting the parameter result into a vision distance measurement program of OpenCV, and finally finishing vision calibration.
In addition, a target coordinate system is also constructed, and the three-dimensional positioning system is also used for calibrating the calibration object. The positions of the calibration objects are shown as three points D, E and F in figure 2, the invention constructs a target coordinate system by using three calibration objects and taking the EF direction as Y t Axis, with ED direction as X t Axis, Z t The axis is then determined by the right hand rule.
The basic calculation idea of the invention is that the coordinate values of the world coordinate system of the calibration object for constructing the bracket coordinate system are firstly measured by the three-dimensional positioning system, and then the coordinate values of the world coordinate system of the calibration object for constructing the target coordinate system in the air are measured by the three-dimensional positioning system. And respectively constructing coordinate vectors of a three-dimensional coordinate system by using coordinate values of calibration objects of the support coordinate system and the target coordinate system, and calculating to obtain a rotation matrix of the support coordinate system and the target coordinate system, wherein the attitude Euler angle value at the moment is used as a theoretical attitude true value of the target object in the camera coordinate system. In an underwater test environment, coordinates of a camera coordinate system of a target object calibration object under water are measured by a binocular camera, a target three-dimensional coordinate vector is constructed by using the coordinates of the camera coordinate system, and a rotation matrix of the underwater camera coordinate system and the target coordinate system is calculated. And further calculating the change value of the Euler angles of the postures before and after the experiment to obtain the required test error. In the verification process of the experiment, in order to verify the reliability of the experiment result, a binocular camera can be used for testing different targets to be tested.
Experiments prove that obvious vector translation exists in the conversion process of the bracket coordinate system and the camera coordinate system. The vector data has three main aspects, namely firstly the translation distance generated by the X axis and the Y axis of the support coordinate system, and secondly the vertical distance in the Z axis direction. In the data processing process, the three constant values are converted into three-dimensional coordinate values for coordinate translation, the method only involves physical structure conversion, the coordinate calculation process is simplified, and the accuracy of the camera test error is effectively improved.
Based on the principle, the technical scheme of the invention is as follows:
the target attitude error measuring method for underwater binocular vision comprises the following steps:
step 1: arranging four calibration objects in the air above the water tank, wherein three calibration objects are fixed on one connecting rod, two calibration objects are arranged on the other connecting rod, and the two connecting rods are vertically intersected with one calibration object; the calibration object can be shot by a three-dimensional positioning system and can be clearly identified; the central point of a calibration object with two vertically intersected connecting rods is taken as the origin O of a world coordinate system e One connecting rod is used as a world coordinate system Y e Axis with another link as world coordinate system X e A shaft; according to the definition of the world coordinate system, the three direction vectors in the world coordinate system are respectively
Step 2: the stent coordinate system is calculated by the following procedure:
step 2.1: placing a calibrated binocular camera in the water tank, wherein the water tank is not filled with water, the optical axis of the binocular camera points to the bottom of the water tank vertically, arranging a calibration object in a space right above the origin of a camera coordinate system of the binocular camera as the origin of a support coordinate system, intersecting two mutually perpendicular connecting rods at the point, and placing a calibration object on each of the two mutually perpendicular connecting rods; measuring coordinate value A (X) of three calibration objects in world coordinate system by three-dimensional positioning system 1 ,Y 1 ,Z 1 )，B(X 2 ,Y 2 ,Z 2 )，C(X 3 ,Y 3 ,Z 3 ) The point B is the origin of the coordinate system of the bracket; determining the Z direction according to a right-hand rule by taking the BA direction as the X direction of a support coordinate system and the BC direction as the Y direction of the support coordinate system;
step 2.2: according to the formula
Calculating the direction vectors of the X axis, the Y axis and the Z axis of the support coordinate system, wherein
The vector in the direction of the X-axis is shown,
a vector in the direction of the Y-axis is shown,
represents a Z-axis direction vector; wherein
The method is characterized in that: further comprising the steps of:
and step 3: calculating a target coordinate system by:
step 3.1: placing a target object in the water tank, wherein the water tank is not filled with water, and placing a calibration object E on the target as an original point O of a target coordinate system t ', and two additional calibrators D, F are placed, with DE perpendicular to EF; measuring coordinate value D (X) of a target coordinate system calibration object in a world coordinate system through a three-dimensional positioning system 4 ,Y 4 ,Z 4 )，E(X 5 ,Y 5 ,Z 5 )，F(X 6 ,Y 6 ,Z 6 ) With ED direction as X t Direction EF is Y t Direction, determining Z according to right-hand rule t Direction;
step 3.2: according to the formula
Calculating a target coordinate system X t Axis, Y t Axis, Z t Direction vector of axis wherein
Represents X t The vector in the direction of the axis is,
represents Y t The vector in the direction of the axis is,
represents Z t An axial direction vector; wherein
And 4, step 4: according to the formula:
calculating a rotation matrix of the support coordinate system relative to the target coordinate system under the global coordinate system
Under the global coordinate system, the posture of the bracket coordinate system is the same as that of the camera coordinate system,
a rotation matrix of the camera coordinate system relative to the target coordinate system under the global coordinate system;
and 5: calculating a target coordinate system in the camera coordinate system by the following process:
step 5.1: placing the calibrated binocular camera into a sealed cabin, filling water into a water tank, and measuring coordinates D ', E and F of the target object through the binocular camera in an underwater environment to obtain coordinate values D ' (X ') of the calibrated objects D, E and F in a camera coordinate system 4 ',Y 4 ',Z 4 ')，E'(X 5 ',Y 5 ',Z 5 ')，F'(X 6 ',Y 6 ',Z 6 ')；
Step 5.2: according to the formula
Calculating direction vectors of three axes of a target coordinate system in a camera coordinate system
And 6: according to the formula
Calculating a rotation matrix of the camera coordinate system relative to the target coordinate system under the camera coordinate system
And 7: according to the formula
Calculating a rotation matrix R of the front and back changes of the target object posture under the current experiment, wherein
And 8: and (4) solving an attitude error value under the current experiment according to the rotation matrix R obtained in the step (7): pitch angle r 1 Transverse roll angle r 2 Yaw angle r 3 。
Further, calling a matlab function dcm2angle () to solve the rotation matrix R to obtain an attitude error value under the current experiment.
Advantageous effects
The invention has the beneficial effects that: the calibration of a world coordinate system is completed by utilizing a three-dimensional positioning system, and the measurement of a camera coordinate system and a target object coordinate system is simplified through the construction of a support coordinate system. The construction and cooperative work of the world coordinate system, the bracket coordinate system and the target coordinate system greatly simplify the calculation process of attitude errors, the test platform is convenient to build, and the test process is very simple and convenient.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of global coordinate system calibration;
fig. 2 is a systematic error measurement model.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
The invention provides a target attitude error measuring method for underwater binocular vision. And the calibration of a world coordinate system is completed by utilizing a three-dimensional positioning system, and the measurement of a camera coordinate system and a target object coordinate system is simplified through the construction of a support coordinate system. The construction and cooperative work of the world coordinate system, the support coordinate system and the target coordinate system greatly simplify the calculation process of attitude errors, the test platform is convenient to build, and the test process is very simple and convenient.
1. System components
The construction of the world coordinate system mainly calibrates a specific calibration object through a three-dimensional positioning system. Before performing calibration workFirstly, the working range of the three-dimensional positioning system is determined, and a proper position is selected as the origin of a world coordinate system. The four calibration object positions shown in FIG. 1 are defined by the intersection of two straight lines formed by the calibration objects as the origin of the coordinate system, and the minor axis is the world coordinate system Y e Axis, major axis being world coordinate system X e A shaft. In order to facilitate identification and reduce calibration data errors, the calibration object selects a standard fluorescent small ball, and the diameter of the calibration object is far smaller than the working range of the three-dimensional positioning system. In the experiments performed by the inventors, the calibration objects used were placed on square bars with a long side of 70cm and a short side of 40cm. The color of the calibration rod is black, and the calibration rod is distinguished from the calibration object, so that the process of identifying the calibration object by the three-dimensional positioning system is not interfered.
The construction of the coordinate system of the bracket requires the three-dimensional positioning system to calibrate a specific calibration object. The positions of the calibration objects are shown in three points A, B and C in figure 2, the invention constructs a bracket coordinate system by using three calibration objects, the BC direction is used as the Y axis, the BA direction is used as the X axis, and the Z axis is determined by the right-hand rule. The origin of the camera coordinate system is located at the left camera position of the binocular camera, namely right below the origin of the bracket coordinate system, and the connecting line direction of the two cameras of the binocular camera is X c Axis parallel to the X-axis of the gantry coordinate system, Y c The axis is parallel to the Y axis of the support coordinate system, and the X axis of the support coordinate system is perpendicular to the Y axis.
The construction of the target coordinate system requires the three-dimensional positioning system to calibrate a specific calibration object. The positions of the calibration objects are shown as three points D, E and F in figure 2, the invention constructs a target coordinate system by using three calibration objects and taking the EF direction as Y t Axis, with ED direction as X t Axis, Z t The axis is then determined by the right hand rule.
2. Error testing method for underwater binocular vision target posture
The basic calculation idea of the invention is that the coordinate value of the world coordinate system of the calibration object of the coordinate system of the construction bracket is measured by the three-dimensional positioning system, and then the coordinate value of the world coordinate system of the calibration object of the target coordinate system in the air is measured by the three-dimensional positioning system. Respectively constructing coordinate vectors of a three-dimensional coordinate system by using coordinate values of calibration objects of a support coordinate system and a target coordinate system, and calculating to obtain a rotation matrix of the support coordinate system relative to the target coordinate system under a global coordinate system; since the postures of the support coordinate system and the camera coordinate system are the same in the global coordinate system, the posture is also a rotation matrix of the camera coordinate system relative to the target coordinate system, and the posture euler angle value reflected by the rotation matrix at the moment is used as a theoretical posture true value of the target object in the camera coordinate system.
In an underwater test environment, coordinates of a camera coordinate system of a target object calibration object under water are measured by a binocular camera, and a rotation matrix of the camera coordinate system relative to the target coordinate system under the camera coordinate system is calculated by utilizing three-dimensional coordinates of the target object calibration object under the camera coordinate system. And further calculating the change value of the Euler angles of the postures before and after the experiment to obtain the required test error. In the verification process of the experiment, in order to verify the reliability of the experiment result, a binocular camera can be used for testing different targets to be tested.
3. Vector translation analysis and processing method
Experiments prove that obvious vector translation exists in the conversion process of the bracket coordinate system and the camera coordinate system. The vector data has three main aspects, namely firstly the translation distance generated by the X axis and the Y axis of the support coordinate system, and secondly the vertical distance in the Z axis direction. In the data processing process, the three constant values are converted into three-dimensional coordinate values for coordinate translation, the method only involves physical structure conversion, the coordinate calculation process is simplified, and the accuracy of the camera test error is effectively improved.
Based on the technical scheme, the following specific embodiments are provided:
step 1: arranging four calibration objects in the air above the water tank, wherein three calibration objects are fixed on one connecting rod, two calibration objects are arranged on the other connecting rod, and the two connecting rods are vertically intersected with one calibration object; the calibration object can be shot by a three-dimensional positioning system and can be clearly identified; the central point of a calibration object with two vertically intersected connecting rods is taken as the origin O of a world coordinate system e One connecting rod is used as a world coordinate system Y e Axis with another link as world coordinate system X e A shaft; root of herbaceous plantAccording to the definition of the world coordinate system, the three direction vectors in the world coordinate system are respectively
Step 2: the stent coordinate system is calculated by the following procedure:
step 2.1: placing a calibrated binocular camera in the water tank, wherein water is not filled in the water tank, the optical axis of the binocular camera vertically points to the bottom of the water tank, arranging a calibration object in a space right above the origin of a camera coordinate system of the binocular camera as the origin of a bracket coordinate system, intersecting two mutually perpendicular connecting rods at the origin, and respectively placing another calibration object on the two mutually perpendicular connecting rods; measuring coordinate value A (X) of three calibration objects in world coordinate system by three-dimensional positioning system 1 ,Y 1 ,Z 1 )，B(X 2 ,Y 2 ,Z 2 )，C(X 3 ,Y 3 ,Z 3 ) The point B is the origin of the coordinate system of the bracket; determining the Z direction according to a right-hand rule by taking the BA direction as the X direction of a support coordinate system and the BC direction as the Y direction of the support coordinate system;
in this example
A(X 1 ,Y 1 ,Z 1 )＝(513.62；367.5；1121.92)
B(X 2 ,Y 2 ,Z 2 )＝(510.09；321.31；1121.97)
C(X 3 ,Y 3 ,Z 3 )＝(407.41；325.47；1131.31)
Step 2.2: according to the formula
Calculating the direction vectors of the X axis, the Y axis and the Z axis of the bracket coordinate system, wherein
The X-axis direction vector is represented,
a vector in the direction of the Y-axis is shown,
represents a Z-axis direction vector; wherein
In this embodiment
And step 3: calculating a target coordinate system by:
step 3.1: placing a target object in the water tank, wherein the water tank is not filled with water, and placing a calibration object E on the target as an original point O of a target coordinate system t ', and an additional two calibrators D, F are placed, with DE perpendicular to EF; measuring coordinate value D (X) of a target coordinate system calibration object in a world coordinate system through a three-dimensional positioning system 4 ,Y 4 ,Z 4 )，E(X 5 ,Y 5 ,Z 5 )，F(X 6 ,Y 6 ,Z 6 ) With ED direction as X t Direction EF is Y t Direction, determining Z according to right-hand rule t Direction;
in this example
D(X 4 ,Y 4 ,Z 4 )＝(508.59；280.61；100.59)
E(X 5 ,Y 5 ,Z 5 )＝(427.36；285.55；102.25)
F(X 6 ,Y 6 ,Z 6 )＝(433.54；325.43；101.91)
Step 3.2: according to the formula
Calculating a target coordinate system X t Axis, Y t Axis, Z t Direction vector of axis wherein
Represents X t The vector in the direction of the axis is,
represents Y t The vector in the direction of the axis is,
represents Z t An axial direction vector; wherein
In this example
And 4, step 4: according to the formula:
calculating a rotation matrix of the support coordinate system relative to the target coordinate system under the global coordinate system
Under the global coordinate system, the posture of the bracket coordinate system is the same as that of the camera coordinate system,
a rotation matrix of the camera coordinate system relative to the target coordinate system under the global coordinate system;
in this example
And 5: calculating a target coordinate system under the camera coordinate system by:
step 5.1: placing the calibrated binocular cameraPutting the object into a sealed cabin, filling water into a water tank, measuring coordinates of the objects D, E and F of the object by a binocular camera in an underwater environment to obtain coordinate values D ' (X ') of the objects D, E and F in a camera coordinate system ' 4 ,Y' 4 ,Z' 4 )，E'(X' 5 ,Y' 5 ,Z' 5 )，F'(X' 6 ,Y' 6 ,Z' 6 )；
In this example
D'(X' 4 ,Y' 4 ,Z' 4 )＝(25.6885；93.5684；790.3663)
E'(X' 5 ,Y' 5 ,Z' 5 )＝(5.4326；94.8149；790.8728)
F'(X' 6 ,Y' 6 ,Z' 6 )＝(26.8997；100.3245；791.2354)
Step 5.2: according to the formula
Calculating direction vectors of three axes of a target coordinate system in a camera coordinate system
In this example
Step 6: according to the formula
Calculating a rotation matrix of the camera coordinate system relative to the target coordinate system under the camera coordinate system
In this example
And 7: according to the formula
Calculating a rotation matrix R of the front and back changes of the target object posture under the current experiment;
in this example
And 8: and (4) solving an attitude error value under the current experiment according to the rotation matrix R obtained in the step (7): pitch angle r 1 Transverse roll angle r 2 Yaw angle r 3 . Pitch angle r in the embodiment 1 = -2.2665, roll angle r 2 = -0.2067 yaw angle r 3 ＝1.6419。
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that those skilled in the art may make variations, modifications, substitutions and alterations within the scope of the present invention without departing from the spirit and scope of the present invention.
Claims (2)
1. A target attitude error measurement method for underwater binocular vision comprises the following steps:
step 1: arranging four calibration objects in the air above the water tank, wherein three calibration objects are fixed on one connecting rod, two calibration objects are arranged on the other connecting rod, and the two connecting rods are vertically intersected with one calibration object; the calibration object can be shot by a three-dimensional positioning system and can be clearly identified; the central point of a calibration object with two vertically intersected connecting rods is taken as the origin O of a world coordinate system e One connecting rod is used as a world coordinate system Y e Axis with another link as world coordinate system X e A shaft;
step 2: the stent coordinate system is calculated by the following procedure:
step 2.1: placing a calibrated binocular camera in the water tank, wherein water is not filled in the water tank, the optical axis of the binocular camera vertically points to the bottom of the water tank, arranging a calibration object in a space right above the origin of a camera coordinate system of the binocular camera as the origin of a bracket coordinate system, intersecting two mutually perpendicular connecting rods at the origin, and respectively placing another calibration object on the two mutually perpendicular connecting rods; measuring coordinate value A (X) of three calibration objects in world coordinate system by three-dimensional positioning system 1 ,Y 1 ,Z 1 )，B(X 2 ,Y 2 ,Z 2 )，C(X 3 ,Y 3 ,Z 3 ) The point B is the origin of the bracket coordinate system; determining the Z direction according to a right-hand rule by taking the BA direction as the X direction of a support coordinate system and the BC direction as the Y direction of the support coordinate system;
step 2.2: according to the formula
Calculating the direction vectors of the X axis, the Y axis and the Z axis of the bracket coordinate system, wherein
The X-axis direction vector is represented,
a vector in the direction of the Y-axis is shown,
represents a Z-axis direction vector; wherein
The method is characterized in that: further comprising the steps of:
and step 3: calculating a target coordinate system by:
step 3.1: placing a target object in the water tank, wherein the water tank is not filled with water, and placing a calibration object E on the target as an original point O of a target coordinate system t ', and an additional two calibrators D, F are placed, with DE perpendicular to EF; measuring coordinate value D (X) of a target coordinate system calibration object in a world coordinate system through a three-dimensional positioning system 4 ,Y 4 ,Z 4 )，E(X 5 ,Y 5 ,Z 5 )，F(X 6 ,Y 6 ,Z 6 ) With ED direction as X t Direction EF is Y t Direction according to the rightManual determination of Z t Direction;
step 3.2: according to the formula
Calculating a target coordinate system X t Axis, Y t Axis, Z t Direction vector of axis wherein
Represents X t The vector in the direction of the axis is,
represents Y t The vector in the direction of the axis is,
represents Z t An axial direction vector; wherein
And 4, step 4: according to the formula:
calculating a rotation matrix of the stent coordinate system relative to the target coordinate system in the global coordinate system
Under the global coordinate system, the posture of the bracket coordinate system is the same as that of the camera coordinate system,
a rotation matrix of the camera coordinate system relative to the target coordinate system under the global coordinate system;
and 5: calculating a target coordinate system under the camera coordinate system by:
step 5.1: placing the calibrated binocular camera into a sealed cabin, filling water into a water tank, and measuring coordinates of the calibration objects D, E and F of the target object through the binocular camera in an underwater environment to obtain coordinate values D ' (X ') of the calibration objects D, E and F in a camera coordinate system ' 4 ,Y′ 4 ,Z′ 4 )，E'(X′ 5 ,Y′ 5 ,Z′ 5 )，F'(X′ 6 ,Y′ 6 ,Z′ 6 )；
Step 5.2: according to the formula
Calculating direction vectors of three axes of a target coordinate system in a camera coordinate system
Step 6: according to the formula
Calculating a rotation matrix of the camera coordinate system relative to the target coordinate system under the camera coordinate system
And 7: according to the formula
Calculating a rotation matrix R of the front and back changes of the target object posture under the current experiment, wherein
And 8: and (4) solving an attitude error value under the current experiment according to the rotation matrix R obtained in the step (7): pitch angle r 1 Transverse roll angle r 2 Yaw angle r 3 。
2. The method for measuring the target attitude error for underwater binocular vision according to claim 1, wherein: and 8, calling a matlab function dcm2angle () to solve the rotation matrix R to obtain an attitude error value under the current experiment.
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| CN110530266B (en) * | 2018-05-25 | 2021-06-25 | 镱钛科技股份有限公司 | Dynamic reference offset detection method and system thereof |
| CN112815848B (en) * | 2021-02-02 | 2022-06-03 | 中国人民解放军陆军装甲兵学院 | Binocular camera and mechanical arm coordinate system registration method |
| CN113654509B (en) * | 2021-07-28 | 2022-09-09 | 北京交通大学 | Detection layout control method and device for measuring wheel-rail contact attitude, and medium |
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| CN115060238B (en) * | 2022-05-18 | 2023-11-10 | 深圳荔石创新科技有限公司 | Method and device for measuring relative pose of underwater component |
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