Guo, S.; Zhao, Z.; Guo, L.; Wei, M. A Method for Measuring the Absolute Position and Attitude Parameters of a Moving Rigid Body Using a Monocular Camera. Appl. Sci.2023, 13, 11863.
Guo, S.; Zhao, Z.; Guo, L.; Wei, M. A Method for Measuring the Absolute Position and Attitude Parameters of a Moving Rigid Body Using a Monocular Camera. Appl. Sci. 2023, 13, 11863.
Guo, S.; Zhao, Z.; Guo, L.; Wei, M. A Method for Measuring the Absolute Position and Attitude Parameters of a Moving Rigid Body Using a Monocular Camera. Appl. Sci.2023, 13, 11863.
Guo, S.; Zhao, Z.; Guo, L.; Wei, M. A Method for Measuring the Absolute Position and Attitude Parameters of a Moving Rigid Body Using a Monocular Camera. Appl. Sci. 2023, 13, 11863.
Abstract
A method of measuring the absolute pose parameters of a moving rigid body using a monocular camera is proposed, aiming at addressing calibration difficulties and inconsistencies of repeated measurements of the rigid-body pose for a camera having a varying focal length. The proposed method does not require calibration beforehand. Using more than six non-coplanar control points symmetrically arranged in the rigid-body and world coordinate systems, the matrices of rotation and translation between the camera and two coordinate systems are obtained and the absolute pose of the rigid body measured. In this paper, formulas of the absolute pose measurement of a moving rigid body are deduced systematically and the complete implementation is presented. Position and attitude measurement experiments carried out on a three-axis precision turntable show that the average absolute error in the attitude angle of a moving rigid body measured by an uncalibrated camera at different positions changes by no more than 0.2 degrees. Analysis of the three-dimensional coordinate errors of the centroid of a moving rigid body shows little deviation in measurements made at three camera positions, with the maximum deviation of the average absolute error being 0.53 cm and the maximum deviation of the standard deviation being 0.66 cm. The proposed method can measure the absolute pose of a rigid body and is insensitive to the position of the camera in the measurement process. This work thus provides guidance for the repeated measurement of the absolute pose of a moving rigid body using a monocular camera.
Keywords
monocular camera; world coordinates; pose measurement; rigid body
Subject
Engineering, Industrial and Manufacturing Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
