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P3P问题的求解是视觉坐标测量系统建模的数学理论基础,传统上利用通用余弦定理和正弦定理求解。为快速精确地求取控制点三维坐标,提出一种利用参数法求解P3P模型解析解的计算方法,并将该模型应用到视觉坐标测量过程中,通过精确求解共线三控制点在摄像机坐标系下的坐标,进而求出与其位置关系已知的被测点三维坐标。介绍了该测量系统的结构、测量原理、计算模型、实验过程以及实验结果,并与传统的利用通用余弦求解模型的计算结果进行了比较,说明本计算方法不仅简单直观,而且精度较高,非常适合应用在视觉坐标测量过程中。
The solution of P3P is the mathematical theory foundation of the modeling of vision coordinate measuring system, which is traditionally solved by universal cosine theorem and sine theory. In order to obtain the 3D coordinates of the control points quickly and accurately, a method of calculating the analytical solution of the P3P model by using the parameter method is proposed. The model is applied to the process of the visual coordinate measurement. By accurately solving the problem that the collinear three control points are in the camera coordinate system And then find the three-dimensional coordinates of the measured point whose position relationship is known. The structure, measurement principle, calculation model, experimental process and experimental results of this measurement system are introduced. Compared with the traditional calculation results using general cosine solver, the calculation method is not only simple and intuitive, but also accurate Suitable for use in the visual coordinate measurement process.