基于四元数的单目视觉物体位姿测量方法

对基于点特征的单目视觉定位算法进行了研究,设计了一种5点平面靶标,在五个特征点的基础上提出了一种基于四元数的单摄像机位姿测量方法。建立了四元数空间变换矩阵,然后再根据特征点在世界坐标系下的坐标值以及特征点在CCD成像面上的坐标值,在空间投射的基础上利用最小二乘法求解出靶标的四元数空间变换矩阵,从而求得靶标的空间位姿。通过实验对该单目视觉定位方法进行验证,实验结果表明：测量模型平移定位精度达到了,旋转定位精度达到了。

Monocular Vision Measurement Method of Object Position and Orientation Based on Quaternions

In this paper,a 5-point coplanar target is designed and a novel measurement method based on the quaternions with five reference points is presented.First the quaternions space transformation matrix is established,and then according to the coordinates of the feature points in the world coordinate system and in the ccd imaging plane coordinate system,the quaternion space transformation matrix of the target is solved using the least square method based on the projection model in space.Finally,the position and orientation of the target are worked out.The monocular vision positioning method is verified through experimental system.Experimental results show that:the translational positioning accuracy reaches,and rotation positioning accuracy reaches.