Independent pose measurement using monocular vision based on laser projection

Feng Liu; Pei-pei Gao; Heng Zhao; Nian Yan; Wei Jing

doi:10.1117/12.2034647

21 August 2013 Independent pose measurement using monocular vision based on laser projection

Feng Liu, Pei-pei Gao, Heng Zhao, Nian Yan, Wei Jing

Proceedings Volume 8908, International Symposium on Photoelectronic Detection and Imaging 2013: Imaging Sensors and Applications; 89081W (2013) https://doi.org/10.1117/12.2034647
Event: ISPDI 2013 - Fifth International Symposium on Photoelectronic Detection and Imaging, 2013, Beijing, China

Abstract

In order to establish measurement basis in non-cooperative environment, this paper proposes an autonomous position and posture servo tracking method based on laser light guided monocular vision. The light of a linear laser projected on a plane was simulated as horizon basis, while the laser light modulated by the projection in the reference plane was taken as servo target. The modulated position and posture change information of laser light was obtained by monocular vision system, information from which the attitude angle of the laser light could be calculated. The attitude angle was transmitted to parallel tracking platform in real time and controlled the movement of the platform according to the laser light. The tracking angle parameters of parallel tracking platform under different position and posture were verified using an inclinometer, which proved the validity and effectiveness of this method. As to the existing measurement errors, this paper analyzed possible causes and provided with feasible suggestions to further improve the precision of the system.

Citation Download Citation

Feng Liu, Pei-pei Gao, Heng Zhao, Nian Yan, and Wei Jing "Independent pose measurement using monocular vision based on laser projection", Proc. SPIE 8908, International Symposium on Photoelectronic Detection and Imaging 2013: Imaging Sensors and Applications, 89081W (21 August 2013); https://doi.org/10.1117/12.2034647

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KEYWORDS

Servomechanisms

Motion controllers

Cameras

Control systems

Modulation

Motion models

Error analysis

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