Research on the algorithm of 3D pose solving based on binocular vision

Jiaxin Wu; Han Ai; Hai Feng Zhang; Jianzhong Cao

doi:10.1117/12.2680583

31 May 2023 Research on the algorithm of 3D pose solving based on binocular vision

Jiaxin Wu, Han Ai, Hai Feng Zhang, Jianzhong Cao

Proceedings Volume 12704, Eighth International Symposium on Advances in Electrical, Electronics, and Computer Engineering (ISAEECE 2023); 127043C (2023) https://doi.org/10.1117/12.2680583
Event: 8th International Symposium on Advances in Electrical, Electronics and Computer Engineering (ISAEECE 2023), 2023, Hangzhou, China

Abstract

Due to the complex lighting environment in space, the surface coating material of the spacecraft is uneven and has strong reflection characteristics, resulting in the complex problem of extremely bright or extremely dark in the image under sunlight, and it is difficult to extract stable features. In addition, for the actual measurement system, the amount of data for image feature processing and image matching is large, which makes the speed of the key algorithm unable to meet the real-time nature of the application. Therefore, based on the above problems, this paper proposes a set of threedimensional measurement algorithms based on binocular vision, mainly has four parts, camera calibration, Image correction, stereo matching and pose solving. We use traditional image processing algorithm for satellite image, using M software for camera calibration, and the calibration results are further optimized and corrected, due to the requirements of real-time, based on ORB algorithm, the use of Fast algorithm for feature point extraction and descriptor calculation by Brief, and the polar constraint is fused for feature matching. Improve the robustness and real-time performance of the algorithm, and perform pose solving by rotating angle. Experiments show that the algorithm can quickly and accurately achieve three-dimensional pose measurement.

Citation Download Citation

Jiaxin Wu, Han Ai, Hai Feng Zhang, and Jianzhong Cao "Research on the algorithm of 3D pose solving based on binocular vision", Proc. SPIE 12704, Eighth International Symposium on Advances in Electrical, Electronics, and Computer Engineering (ISAEECE 2023), 127043C (31 May 2023); https://doi.org/10.1117/12.2680583

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KEYWORDS

Cameras

Binocular vision

Feature extraction

Distortion

Image processing

Camera calibration

3D image processing

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