Acta Geodaetica et Cartographica Sinica >

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

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

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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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

Cite this article

SHANG Yang , SUN Xiaoliang , ZHANG Yueqiang , LI You , YU Qifeng . Research on 3D Target Pose Tracking and Modeling[J]. Acta Geodaetica et Cartographica Sinica, 2018 , 47(6) : 799 -808 . DOI: 10.11947/j.AGCS.2018.20170626

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