单目摄像机_激光测距传感器位姿测量系统_晁志超`.pdfVIP

31 3 Vol. 31, No. 3 20 11 3 ACTA OPTICA SINICA March, 20 11 单目摄像机-激光测距传感器位姿测量系统 1 1 1 2 晁志超 伏思华 姜广文 于起峰 1 , 4 10073 2 , 4 10073 , , , ; , , , -, ; , - , ; ; ; ; TP242; T P39 1 A doi: 10. 3788/ AOS20 1131. 031200 1 Mono Camera and L aser R angefinding Sensor Position-Pose Measurement System 1 1 1 2 Chao Zhichao Fu Sihua Jiang Guangwen Yu Qifeng 1 Opto-Elect ronic Scien ce and En ineerin , Nation al University of Defence T echn olo y , Chan sha , Hu nan 410073, Chin a 2 Colle e of Aerospace En ineer in , Nation al Un iversity of Def ence T echnolo y , Chan sha , Hun an 410073, Chin a Abstract Preci ion of tran lation mea urement along the camerac optical axi i generally much lower than that of which i perpendicular to the optical axi in monocular vi ion mea urement due to the inherent limitation of the y tem. Fir t of all, mathematical model i analyzed to explain the cau e, then a high-preci ion la er rangefinding en or ( DLS) i in tallednear the camera t ocon truct the Monoocular Camera-DLS po e mea urement y tem, which will improve the preci ion of tran lation mea urement along the optical axi with DLS mea urement ; Finally, principle of the y temc calibration and data fu ion method are conducted. Experimental re ult how the fea ibility and validity of the po ition-po e mea urement y tem. Key words optical mea urement; po ition-po e mea urement; monoocular camera; la er rangefinding en or;