一种基于共面特征点的单摄像机姿态测量方法研究

利用单摄像机采集4个共面特征点图像的方法来测量物体的相对姿态变化。系统选用IR—LED作为特征点并对其发光特性进行优化控制，利用基于双线性插值的高斯曲面拟合方法确定图像特征点的坐标，最终使用解决P4P问题的一种线性解法确定特征点坐标及位姿变化信息。进行了实物和仿真实验，并对该方法进行了不确定度分析，结果表明这种方案具有较高的准确度、实时性。

Study on a Method for Attitude Measurement Based on Single Camera with Coplanar Feature Points

The relative attitude of object is measured according to the image of four coplanar feature points, and the image is obtained by single camera. Selects IR-LED as the feature points and optimum control of its luminance. The image coordinate of the feature points are determined based on the method of Bilinear interpolation and Gaussian surface fitting. Using the linear idea for solving the P4P question the coordinate of these feature points and attitude of object are getten. At last, some physical and simulation experiments are done, the uncertainty of the method is also analyzed. The result shows that the real-time and the accuracy are higher.