Improve the Estimation of Monocular Vision 6-DOF Pose Based on the Fusion of Camera and Laser Rangefinder

Remote Sensing

卷:13

Jian Ding¹  Sikang Zeng²  Rujin Zhao²  Enhai Liu²  Jinhui Yi²  Zifa Zhu²  Yuebo Ma² 

[1] Beijing Institute of Spacecraft System Engineering, Beijing 100094, China;

[2] Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu 610209, China;

关键词: monocular vision;    6-DOF pose estimation;    sensor fusion;    remote measurement;   

DOI  :  10.3390/rs13183709

来源: DOAJ

【 摘 要 】

Monocular vision is one of the most commonly used noncontact six-degrees-of-freedom (6-DOF) pose estimation methods. However, the large translational DOF measurement error along the optical axis of the camera is one of its main weaknesses, which greatly limits the measurement accuracy of monocular vision measurement. In this paper, we propose a novel monocular camera and 1D laser rangefinder (LRF) fusion strategy to overcome this weakness and design a remote and ultra-high precision cooperative targets 6-DOF pose estimation sensor. Our approach consists of two modules: (1) a feature fusion module that precisely fuses the initial pose estimated from the camera and the depth information obtained by the LRF. (2) An optimization module that optimizes pose and system parameters. The performance of our proposed 6-DOF pose estimation method is validated using simulations and real-world experiments. The experimental results show that our fusion strategy can accurately integrate the information of the camera and the LRF. Further optimization carried out on this basis effectively reduces the measurement error of monocular vision 6-DOF pose measurement. The experimental results obtained from a prototype show that its translational and rotational DOF measurement accuracy can reach up to 0.02 mm and 15″, respectively, at a distance of 10 m.

【 授权许可】

Unknown