基于等腰三角形模型的单目视觉位姿测量系统误差分析

doi:10.3969/j.issn.1000-1158.2014.z1.05

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Abstract In view of object pose measurement based on monocular vision, the relationship between the input parameters errors of a camera and the measurement error of pose was studied. Three types of input parameters errors were discussed theoretically, and an isosceles triangle Perspective-3-Point model (P3P model) was built, composed by three feature points. Thus the relationship between input parameters error of camera and pose measurement error was finally derived. Adding types of noise to every input parameter error during the experiment, observing how each of the input parameters errors influences the pose measurement error. Experiment results reveal the absolute value of correlation coefficients between post measurement error and three types of input parameter errors is superior to 0.99, within the margin of error, suggesting approximately linear relationship among them. Furthermore, the attitude angle error as well as the position error caused by cameras intrinsic parameters and 2D image coordinates are 10 and 100 times respectively of that caused by 3D model coordinates.

Key words： Metrology Monocular vision P3P model Pose measurement Error analysis Simulation

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	Articles by authors
	YAO Zhen-jian
	WANG Zhong-yu
	LI Dan

Cite this article:

YAO Zhen-jian,WANG Zhong-yu,LI Dan. Error Analysis of Pose Measurement with Monocular Vision Based on Isosceles Triangle Model[J]. Acta Metrologica Sinica, 2014, 35(z1): 19-25.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2014.z1.05 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2014/V35/Iz1/19

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