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针对火炮调炮精度检测中存在的不足,提出了一种基于双目立体视觉的三重交会测量方法,在炮身管上附加球状标志物,利用CCD摄像机获取标志物图像,通过标志物成像的几何投影关系计算球心的三维坐标。为了降低图像识别误差的影响,对投影的识别位置进行拓展和细化,并对球心投影边界进行插值,摄像机光心与插值点连线射线形成了一个锥体,两摄像机的锥体分别与炮台球面相交形成曲面,计算两曲面公共部分的形心,即为球心位置。通过确定球心位置,对炮身管的高低角、方位角进行计算,从而检测火炮调炮的性能。实验证明,该算法简单、快速,具有较高的精度。
Aiming at the shortcomings in the accuracy testing of gunshot gun, a triple intersection measurement method based on binocular stereoscopic vision is proposed. The spherical markers are attached to the barrel of the gun barrel, and the images of the markers are obtained by the CCD camera. The geometry Projection relationship between the three-dimensional coordinates of the center of the ball. In order to reduce the influence of image recognition error, the recognition position of projection is expanded and refined, and the projection boundary of sphere center is interpolated. The cone of the camera’s center of light and the line connecting the interpolation points forms a cone, The intersection of the cannonballs forms a surface, calculating the centroid of the common part of the two surfaces, that is, the center of the ball. By determining the location of the center of the ball, the height and the angle of the barrel tube are calculated to detect the performance of the artillery gun. Experiments show that the algorithm is simple, fast and has high precision.