Jiandong Su, Xiaohui Qi, Xiusheng Duan. Plane Pose Measurement Method Based on Monocular Vision and Checkerboard Target[J]. Acta Optica Sinica, 2017, 37(8): 0815002
- Acta Optica Sinica
- Vol. 37, Issue 8, 0815002 (2017)
Fig. 1. Sketch map of imaging of checkerboard target
Fig. 2. Relationship between target coordinate system and world coordinate system in ideal situation
Fig. 3. Relationship between target coordinate system and world coordinate system in actual situation
Fig. 4. Comparison of actual image corner and simulation image corner. (a) Actual image corner; (b) simulation image corner
Fig. 5. Experimental system of monocular vision pose measurement
Fig. 6. Relationship between measurement precision and distance
Fig. 7. Error of dynamic measurement when distance is 3 m. (a) Measured reference value; (b) errors of outer frame; (c) errors of middle frame; (d) errors of inner frame
Fig. 8. Error of dynamic measurement when distance is 4.5 m. (a) Measured reference value; (b) errors of outer frame; (c) errors of middle frame; (d) errors of inner frame
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Table 1. Results of simulation experiment(°)
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Table 2. Results of theoretical experiment(°)
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Table 3. Static experimental results under different poses(°)
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Table 4. Static experimental results under same poses(°)
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Table 5. Error distribution of static experimental results under same poses(°)
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