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The key technology of the measuring method of pose shaking of unstable platform based on CCD lies in the camera pose estimation.A new method for camera pose estimation based on line correspondence is put forward in this paper.First,two appropriate lines are selected in the space to establish a local coordinate system,the remaining lines form three-line sets with these two lines respectively and then the angle depth of the lines of the local coordinate system can be obtained by using the linearity of interpretation plane;then the invariance of included angle between spatial coordinate system and camera coordinate system during rigid transformation is used to establish a constraint equation set of angle depth of three lines similar to traditional P3P,and the corresponding angle depth of the third line in the set can be obtained linearly by variable substitution;finally,the rotation matrix can be expressed with quaternion and the pose parameters of camera in the space can be calculated by singular value decomposition(SVD).The static experiment and dynamic experiment verify the accuracy and stability of the algorithm and that the camera pose shocking is within 1°and the 3σ error is superior to 0.3′.The method in this paper can be directly used in the micro-vibration measurement of experimental platform and robot navigation and other fields and is of important theoretical significance and engineering application prospect.
The key technology of the measuring method of setting shaking of unstable platform based on CCD lies in the camera pose estimation. A new method for camera pose estimation based on line correspondence is put forward in this paper. First, two appropriate lines are selected in the space to establish a local coordinate system, the remaining lines form three-line sets with these two lines respectively and then the angle depth of the lines of the local coordinate system can be obtained by using the linearity of interpretation plane; then the invariance of included angle between spatial coordinate system and camera coordinate system during rigid transformation is used to establish a constraint equation set of angle depth of three lines similar to traditional P3P, and the corresponding angle depth of the third line in the set can be obtained linearly by variable substitution ; finally, the rotation matrix can be expressed with quaternion and the pose parameters of camera in the space can be calculated by singular value decomposition (SVD). The static experiment and dynamic experiment verify the accuracy and stability of the algorithm and that the camera pose shocking is within 1 ° and the 3σ error is superior to 0.3 ’. The method in this paper can be directly used in the micro-vibration measurement of experimental platform and robot navigation and other fields and is of important theoretical significance and engineering application prospect.