Optoelectronics is making progress in high-precision visual pose measurement technology

[ China Instrument Network Instrument R&D ] Vision-based target pose (position and attitude) measurement is the leading research direction in the field of optoelectronic precision measurement technology and plays a pivotal role in space operations, industrial manufacturing, and robot navigation. Especially in the field of space, accurate measurement of the target pose is an important task that directly relates to the success or failure of a space mission. Current position and orientation measurement techniques for cooperation goals have matured and have been widely used in the industrial, medical, and aerospace fields. However, because most of the goals lack prior information about the goals of cooperation, it is very challenging to pose and measure these goals without cooperation information.

Actual picture pose measurement results

Recently, under the support of the National Natural Science Foundation and the Youth Innovation Promotion Association of the Chinese Academy of Sciences, the vision measurement research group led by Dr. Zhao Jinjin, Ph.D., Optoelectronics Technology Division of the Institute of Optics and Electronics, Chinese Academy of Sciences, proposed a method for any goal without cooperation information. High Precision Pose Measurement Method Based on Rotation Parameters . The method first uses Cayley-Gibbs-Rodriguez (CGR) to parameterize the rotation matrix, and then converts the pose measurement problem into the optimization problem of the rotation parameters, and finally uses the automatic solution.

The base method solves the optimization problem of rotation parameters and realizes the pose measurement for any number of feature points under different arrangements. Compared with the traditional pose measuring method, the method is more versatile and the accuracy is improved further. The research results are expected to be applied in future space-based arbitrary target measurement tasks, and can also be applied to industrial manufacturing, medical assistance, robot navigation, and other fields.

Simulation experiments and practical experiments verify the effectiveness and robustness of the proposed algorithm. Fig. 1 is the comparison of simulation experiment error, and Fig. 2 is the actual picture pose measurement result.

Relevant research results were published in the measurement journal Measurements under Elsevier.

(Title: Optoelectronics has made progress in high-precision visual pose measurement technology)