用單一攝影機配合標誌以測量物體姿勢的探討與應用

Reconstructing Object Pose by Using Single Camera and Planned Marks

鐘文遠(W. Y. Chung) ； 楊軒豪(S. H. Yang)

《華岡工程學報》 22期 (2008/06) Pp. 153-161

https://doi.org/10.29987/CCUHKJE.200806.0020

摘要

本研究主要使用單部攝影機配合標誌，以分析重建出物體的姿勢（包含位置及方位）。將易於辨識的數個標誌貼附於物體上，當攝影機擷取到各標誌點的二維影像後，經過轉換運算，得到各標誌點的三維座標，進而重建該物體的三維姿勢。本研究以貼附三個標誌點為啟始，探討重建各標誌點之三維座標的可行性。而後提出使用四個標誌點，以適用於一般空間運動的姿勢重建。若剛體的運動被侷限為螺旋運動，且螺旋軸為已知，則僅需兩個標誌點，便可執行姿勢重建。

關鍵字

姿勢 ； 標誌法

並列摘要

This work is to compute and reconstruct the object pose, including position and orientation, by using single camera combined with several planned marks. The marks are mounted as planned on a rigid boy and can be captured by the camera to obtain corresponding two-dimension coordinates. The data are then used to reconstruct the pose of a rigid object. The work begins with trying three marks. The strategy to reconstruct the pose of the body is developed, and the ambiguity and limitation are analyzed. The method of using four marks is then suggested for general three-dimension pose reconstruction. If the body executes screw motion with specified axis, the reconstruction can be finished by using just two marks.

並列關鍵字

Pose ； Mark-base method