王震,马强,潘宇明

• 1:天津市勘察院

摘要(Abstract)：

针对如何快速实时地获取运动目标位姿参数的问题,该文提出了一种单目运动目标位姿实时测量的方法,设计了标志点像物方匹配检测状态机和快速跟踪匹配状态机。匹配检测状态机在无标志点差异的条件下,采用反投影法得到最佳物像匹配对应关系,为快速高效跟踪匹配提供位姿初始解;提出了一种基于精度评定的状态切换机制,既发挥了跟踪匹配的高效性,又避免跟踪失败造成的位姿测量永久失败。实验结果表明,反投影法能够有效地筛选出最佳的像物方匹配对应关系,快速跟踪匹配状态机能够通过跟踪标志点高效地计算匹配关系和位姿参数,状态切换机制及时地判断跟踪错误,并迅速切换至匹配检测状态,实时测量全过程能高稳健运行。

关键词(KeyWords)： 位姿;匹配;检测;跟踪;状态切换;实时

Abstract:

Keywords:

基金项目(Foundation): 天津市重点研发计划科技支撑重点项目(18YFZCSF00620)

作者(Author): 王震,马强,潘宇明

DOI: 10.16251/j.cnki.1009-2307.2019.03.019

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