三维目标位姿跟踪与模型修正

尚洋; 孙晓亮; 张跃强; 李由; 于起峰

doi:10.11947/j.AGCS.2018.20170626

测绘学报 >

2018 , Vol. 47 >Issue 6: 799 - 808

DOI: https://doi.org/10.11947/j.AGCS.2018.20170626

计算机视觉与三维重建

三维目标位姿跟踪与模型修正

尚洋 ,
孙晓亮 ,
张跃强 ,
李由 ,
于起峰

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国防科技大学空天科学学院图像测量与视觉导航湖南省重点实验室, 湖南长沙 410072

尚洋(1977-),男,博士,研究员,研究方向为图像测量、模式识别、视觉导航等。E-mail:shangyang1977@nudt.edu.cn

收稿日期: 2017-12-01

修回日期: 2018-04-12

网络出版日期: 2018-06-21

基金资助

国家自然科学基金（11472302；11332012）

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Research on 3D Target Pose Tracking and Modeling

SHANG Yang ,
SUN Xiaoliang ,
ZHANG Yueqiang ,
LI You ,
YU Qifeng

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Hunan Key Laboratory of Videometrics and Vision Navigation, College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410072, China

Received date: 2017-12-01

Revised date: 2018-04-12

Online published: 2018-06-21

Supported by

The National Natural Science Foundation of China (Nos.11472302;11332012)

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摘要

本文是机器视觉参量下的三维数字摄影测量智能构像基础工作之一：成像系统位置姿态自动跟踪与精密修正，属于摄影测量与机器视觉、数字图像处理等学科交叉的摄像测量领域。针对基于目标3D模型的位姿跟踪问题开展研究，对相关研究的现状进行梳理，并提出系列位姿跟踪与模型修正方法。在完全已知目标3D精确模型的情况下，对于包含丰富直线特征的特殊目标，提出基于直线模型的目标位姿跟踪方法，实现了目标位姿参数的精确跟踪；为处理更为一般目标，利用目标的3D边缘模型，提出法向距离迭代加权最小二乘位姿估计方法及距离图迭代最小二乘位姿跟踪方法。当目标3D直线模型参数不准确时，结合光束法平差思想，提出一种针对序列图像的基于3D直线模型同时位姿跟踪与模型修正方法，联合优化求解目标位姿参数及3D直线模型参数，在模拟空间卫星目标位姿测量的仿真试验中，模型直线朝向、位置误差及目标位姿平均角度、平均位置误差分别为0.3°、3.5 mm及0.12°、20.1 mm。针对包含丰富直线特征的目标，在其3D直线模型完全未知的情况下，提出基于序列图像直线对应的目标结构重建与位姿跟踪方法，利用序列图像信息，在SFM框架下同时优化求解目标直线模型参数及位姿参数，仿真试验条件下，重建模型直线朝向、位置误差及位姿参数平均角度、平均位置误差分别约为0.4°、7.5 mm及0.16°、23.5 mm。

关键词： 摄像测量; 3D模型; 位姿跟踪; 光束法平差; 三维重建

本文引用格式

尚洋 , 孙晓亮 , 张跃强 , 李由 , 于起峰 . 三维目标位姿跟踪与模型修正[J]. 测绘学报, 2018 , 47(6) : 799 -808 . DOI: 10.11947/j.AGCS.2018.20170626

Abstract

This paper tackles imaging system pose tracking and model refinement,one of the fundamental work for 3D photogrammetry.The researches belong to the videometrics,an interdiscipline which combines computer vision,digital image processing,photogrammetry and optical measurement.Related works are summarized briefly in this paper.We study the problems of pose tracking for target with 3D model.For the target with accurate 3D model,line model based pose tracking methods are proposed for target with rich line features.Experimental results indicate that the proposed methods track the target pose accurately.Normal distance iterative reweighted least squares and distance image iterative least squares methods are proposed to process more general targets.This paper adopts bound adjustment to tackle pose tracking in image sequence for target with inaccurate 3D line model.The proposed method optimizes model line parameters and pose parameters simultaneously.The model line orientation,position and mean angle error,mean position error of pose are 0.3°,3.5 mm and 0.12°,20.1 mm in simulation experiments of satellite pose tracking.Line features are used to track target pose with unknown 3D model through image sequence.The model line parameters and pose parameters are optimized under the framework of SFM.In simulation experiments,the reconstructed line orientation,position error and mean angle error,mean position error of pose are 0.4°,7.5 mm and 0.16°,23.5 mm.

Key words： videometrics; 3D model; pose tracking; bound adjustment; reconstruction

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