Position and orientation measurement method with monocular vision and digital simulation

Zi Miao Zhang, Peng Wang, Chang Ku Sun

Research output: Contribution to journalArticlepeer-review

17 Scopus citations

Abstract

The monocular vision positioning algorithm which is based on the point characteristics is studied. The algorithm which is based on the mathematical model of 5-point perspective projection is proposed. The algorithm uses non-coplanar feature points and calculates the coordinates of five feature points in the camera coordinate system according to the same relative position of the five feature points of the object surface in the camera coordinate system and in the world coordinate system. So the object rotation angle can be calculated. A set of digital simulation system based on OpenGL graphics engine is constructed to simulate the algorithm for completing the specific process of positioning algorithm simulation and verifying the accuracy of the algorithm. Simulation results show that the positioning accuracy of the algorithm reached ±0.01° in the ideal case. The algorithm offers a new method with high precision for the measurement of the position and orientation of the object.

Original languageEnglish
Pages (from-to)440-444
Number of pages5
JournalTianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology
Volume44
Issue number5
StatePublished - May 2011
Externally publishedYes

Keywords

  • 5-point perspective
  • Digital simulation
  • Monocular vision
  • Object position

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